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International Joint Conference on Neural Networks (IJCNN)

作者： Songhe Zhao T.S. Dillon Expert and Intelligent Systems Laboratory Applied Computing Research Institute& Department of Computer Science Computer Engineering La Trobe University Bundoora VIC Australia

Neural network (or parallel distributed processing) models have been shown to have some potential for solving optimisation problems. Most formulations result in NP-complete problems and solutions rely on energy based models, so there is no guarantee that the network converges to a global optimal solution. In this paper, we propose a non-energy based neural shortest path network based on the principle of dynamic programming and least take all network. No problem of local minima exists and it guarantees to reach the optimal solution. The network can work purely in an asynchronous mode which greatly increases the computation speed.

关键词： Neurons Neural networks Concurrent computing computer networks Distributed computing NP-complete problem computer architecture Parallel processing Shortest path problem Intelligent systems

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The USC autonomous flying vehicle: An experiment in real-time behavior-based control

The USC autonomous flying vehicle: An experiment in real-tim...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： A.H. Fagg M.A. Lewis J.F. Montgomery G.A. Bekey Department of Computer Science Center for Neural Engineering Institute for Robotics Intelligent Systems University of Southern California Los Angeles CA USA

A control system architecture is described for an autonomous flying vehicle. The vehicle, equipped with fourteen sensors, uses a model helicopter as an airframe. The control system utilizes these sensors to: remain aloft and in stable flight; navigate to a target; and manipulate a physical object. The overall approach to the problem is based on a behavioral paradigm. The key contribution of this paper is the demonstration of a situated agent under these severe circumstances; as the craft is airborne, it is in constant risk of crashing. Unlike terrestrial mobile robots, the craft must constantly make sound decisions to maintain its integrity.

关键词： Remotely operated vehicles Mobile robots Service robots Control systems Robot sensing systems Intelligent sensors Concurrent computing Intelligent robots Sensor systems computer architecture

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On the relation between friction and part shape in parallel-jaw grasping

On the relation between friction and part shape in parallel-...

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IEEE International Conference on robotics and Automation (ICRA)

作者： A.S. Rao K.Y. Goldberg Department of Computer Science University of Utrecht Utrecht Netherlands Institute of Robotics and Intelligent Systems University of Southern California Los Angeles CA USA

Previously, the authors gave planning algorithms for the problem of grasping and orienting planar parts using a parallel-jaw gripper, with analysis simplified by assuming zero friction between the part and the gripper. Their analysis is generalized to allow Coulomb friction. Coulomb friction introduces ranges of orientations where a part can become wedged between two points on its boundary. It is shown that for any planar part operating under Coulomb friction, there is a part (linear/circular in boundary) operating under zero friction that has the same mechanical behavior. Based on this observation, a bound on the coefficient of friction is given that permits the existence of a plan to orient a given part. For friction below this bound, a new planning algorithm that will find a plan for orienting the part is described. It is shown that this plan works under the weaker assumption that friction introduces nondeterminism into the transfer function, i.e., there can be more than one possible outcome for certain ranges of grasp angles.< >

关键词： Friction Shape Grippers Transfer functions Manufacturing automation robotics and automation Intelligent robots computer science Concurrent computing NIST

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Placing registration marks

Placing registration marks

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IEEE International Conference on robotics and Automation (ICRA)

The registration mark problem is defined, as follows. Given an n-sided rigid planar polygonal part and a set of k planar geometric transforms, locate a point on the surface of the part that maximizes the minimum distance between transformed points. A registration mark at this point will be maximally robust to sensor imperfections. An O(n log/sup 2/k+k/sup 4/ log k log*k) time algorithm for solving this planar problem is given, and the result is demonstrated using the Image-Calc vision system. The results extend to curved planar parts and polyhedral parts. How part shape can be redesigned to simplify localization is considered. In essence, it is shown how to design the surface of a part to facilitate automated assembly.< >

关键词： Cameras Machine vision Manufacturing automation robotics and automation Intelligent robots Solids Equations computer science Application software Noise measurement

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An asynchronous neural network model for shortest path problem

An asynchronous neural network model for shortest path probl...

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International Conference on Neural Networks

作者： S. Zhao T.S. Dillon Northern Jiaotong University Beijing China Expert and Intelligent Systems Laboratory Applied Computing Research Institute & Department of Computer Science & Computer Engineering La Trobe University Bundoora VIC Australia

Most neural network models are energy based models and there is no guarantee that the network converges to a global optimal solution. A new neural shortest path network model is proposed in which no special convergence procedure needs to be performed. The network can work in a purely asynchronous mode, and is guaranteed to reach the global optimal solution.< >

关键词： Neural networks Shortest path problem Neurons computer networks Intelligent systems Intelligent networks Laboratories computer science Power engineering and energy Algorithm design and analysis

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Application of Error Correcting Codes to Navigation of Autonomous Mobile Robots in a CIM Environment

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IFAC Proceedings Volumes 1993年第1期26卷 247-252页

作者： D.E. Lazic V. Senk M. Rude G. Kandu University of Karlsruhe Computer Science Department Institute for Real Time Computing Systems and Robotics D-7500 Karlsruhe 1 Germany (Fellow of European Community - DG XII) University of Karlsruhe European Institute for System Security D-7500 Karlsruhe Germany University of Karlsruhe FZI-Forschungszentrum Informatik D-7500 Karlsruhe Germany Institute “Jozef Stefan” Jamova 39 SLO-Ljubljana Slovenia

A new concept for navigation of mobile robots based on the planary coded environment (PLACER) is presented, which enables the coordination of several mobile robots in a real manufacturing environment. It is a path independent external navigation system with passive environment structuring over the entire movement area of the robots. This area is completely covered with tiles, each containing the coordinates of its centre point inscribed using an error correcting code

关键词： Robots navigation position control error correction codes

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Shape recognition by random grasping

Shape recognition by random grasping

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1992 IEEE/RSJ International Conference on Intelligent Robots and systems, IROS 1992

作者： Kang, Dukhyun Goldberg, K.Y. Institute for Robotics and Intelligent Systems Computer Science Department University of Southern California Los AngelesCA90059-0273 United States

ISBN: (纸本)0780307372

Our objective is to recognize parts in a structured environment (such as a factory) using inexpensive and widely available hardware. In this paper we consider the class of parts with constant polygonal cross section. We aim to recover the shape of a part's cross section by randomly grasping t,he part with a parallel-jaw gripper and measuring the distance between the jaws (the diameter). Since more than one part may give rise to the same diameter and the diameter sensor may be corrupted by noise due to surface compliance and backlaqh, we use a Bayesian decision procedure to estimate the most probable part. We describe preliminary experiments on synthetic and physical data and report on the sensitivity of recognition time to sensor noise, sensor resolution, and probability threshold. Our experiments suggest that even the most unsophisticated grasp strategy-random grasping-can be sufficient for recognizing parts. © 1992 institute of Electrical and Electronics Engineers Inc. All rights reserved.

关键词： Intelligent robots

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How the checklist paradigm elucidates the semantics of fuzzy inference

How the checklist paradigm elucidates the semantics of fuzzy...

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IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： L.J. Kohout W. Bandler The Institute of Cognitive Sciences Institute of Expert Systems and Robotics Department of Computer Science Florida State University Tallahassee FL USA

The authors present some results on a theoretical semantic device called the checklist paradigm which gives the theoretical bounds on the performance of particular many-valued implication operators and other connectives. In its most general form, the checklist paradigm pairs the distinct connectives of the same logical type to provide the bounds for interval-valued approximate inference. The global structure imposed on the many-valued connectives by the certain type of checklist paradigm contracting measures is shown to be the S/sub 2*2*2/ group.< >

关键词： Fuzzy logic Multivalued logic Fuzzy systems Fuzzy sets Knowledge engineering Inference algorithms Algorithm design and analysis expert systems Cognitive robotics computer science

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Fuzzy multi objective decision making with linear programming

Fuzzy multi objective decision making with linear programmin...

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1992 IEEE International Workshop on Emerging Technologies and Factory Automation, ETFA 1992

作者： Isomursu, Pekka Dillon, Tharam S. Computer Technology Laboratory Technical Research Centre of Finland P.O. Box 201 OuluSF-90571 Finland Expert and Intelligent Systems Laboratory Applied Computing Research Institute Department of Computer Science and Computer Engineering La Trobe University BundooraVIC3083 Australia

ISBN: (纸本)0780308867

This paper critically studies approaches that use the theory of fuzzy sets for multi objective decision making with linear programming. Two main approaches are distinguished: one that converts the problem into a single objective linear programming problem, and another that uses multi objective linear programming. Both advantages and disadvantages of the approaches are discussed. To overcome some of the disadvantages, a new combination of the two methods is proposed. © 1992 IEEE.

关键词： Linear programming

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Handwritten numeral recognition based on hierarchically self-organizing learning networks with spatio-temporal pattern representation

Handwritten numeral recognition based on hierarchically self...

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Conference on computer Vision and Pattern Recognition (CVPR)

作者： S. Lee J.C. Pan Department of Electrical Engineering-Systems and Computer Science Institute for Robotics and Intelligence Systems University of Southern California USA

An approach for tracing, representation, and recognition of a handwritten numeral in an offline environment is presented. A 2D spatial representation of a numeral is first transformed into a 3D spatiotemporal representation by identifying the tracing sequence based on a set of heuristic rules acting as transformation operators. Given the dynamic information of the tracing sequence, a multiresolution critical-point segmentation method is proposed to extract local feature points, at varying degrees of scale and coarseness. A neural network architecture, the hierarchically self-organizing learning (HSOL) network (S. Lee, J.C. Pan, 1989), especially for handwritten numeral recognition, is presented. Experimental results based on a bidirectional HSOL network indicated that the method is robust in terms of variations, deformations, and corruption, achieving about 99% recognition rate for the test patterns.< >

关键词： Handwriting recognition Pattern recognition Feature extraction Character recognition Intelligent robots Neural networks Humans Heuristic algorithms Skeleton Lifting equipment

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